IF_RobotConfiguration - Scara4Ax (Method)

Overview

Type:	Method
Available as of:	V2.8.2.0

Robots of all types inherently present various hazards to machine operators, maintenance personnel, and commissioners. Some of these hazards may be the result of improper/invalid programming control or system parameterization/configuration. To help avoid as much as possible these hazards/situations, the library SchneiderElectricRobotics has been developed dedicated to Schneider Electric robots.

WARNING
	UNINTENDED ROBOT OPERATION Ensure that the library SchneiderElectricRobotics is used for operating a Schneider Electric robot. Failure to follow these instructions can result in death, serious injury, or equipment damage.

The Schneider Electric Robot library facilitates:

The parameterization of the robot.
The monitoring of the robot axes parameters.
- GearIn and GearOut
- FeedConstant
- Maximum current
- Direction
- Maximum speed
The monitoring of the work envelope of the robot.

This chapter provides information on:

Task
Description
Interface

Task

Configuring a four axial SCARA.

Description

With the method Scara4Ax(...), the robot can be configured as a four axial SCARA (Selective Compliance Assembly Robot Arm) with four degrees of freedom.

In case of a coupling of translation along the Z axis and the TCPs (Tool Center Point) orientation, a user-specific transformation can be introduced via method AdditionalTransformationAxes() of IF_RobotConfigurationAdvanced.

NOTE: If a method to configure a transformation was already called successfully (q_etDiag = GD.ET_Diag.Ok AND q_etDiagExt = ET_DiagExt.Ok), then it is not possible to overwrite the parameterization by calling up another method to configure a transformation.

Interface

Input	Data type	Description
i_ifDriveA	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis A.
i_ifDriveB	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis B.
i_ifDriveC	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis C.
i_ifDriveD	SystemConfigurationItf.IF_Drive For Modicon M262 Motion Controllers, the data type is CMI.IF_AxisIdentification.	Drive of axis D.
i_lrLengthA	LREAL	Length of the arm mounted on axis A. Value range: i_lrLengthA > 0 Unit: [mm]
i_lrLengthB	LREAL	Length of the arm mounted on axis B. Value range: i_lrLengthB > 0 Unit: [mm]

Output	Data type	Description
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message that gives additional information on the diagnostic state.

Output

Data type

Description

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic.

A value not equal to ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = ET_Diag.Ok -> Status message

q_etDiag <> ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

Event-triggered message that gives additional information on the diagnostic state.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
ExecutionAborted	ConfigurationAlreadyCompleted	105	The configuration is already completed.
ExecutionAborted	TransformationAlreadyConfigured	106	The transformation is already configured.
InputParameterInvalid	DriveAAlreadyInUse	36	The drive A is already in use.
InputParameterInvalid	DriveAInvalid	48	The drive A is invalid.
InputParameterInvalid	DriveBAlreadyInUse	37	The drive B is already in use.
InputParameterInvalid	DriveBInvalid	49	The drive B is invalid.
InputParameterInvalid	DriveCAlreadyInUse	38	The drive C is already in use.
InputParameterInvalid	DriveCInvalid	50	The drive C is invalid.
InputParameterInvalid	DriveDAlreadyInUse	96	The drive D is already in use.
InputParameterInvalid	DriveDInvalid	93	The drive D is invalid.
InputParameterInvalid	LengthARange	160	The LengthA is out of range.
InputParameterInvalid	LengthBRange	161	The LengthB is out of range.

Ok

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The configuration of the robot transformation was successful.

ConfigurationAlreadyCompleted

Enumeration name:	ConfigurationAlreadyCompleted
Enumeration value:	105
Description:	The configuration is already completed.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration of the robot has already been completed. The method ConfigDone(...) has already been called successfully.	Ensure that no transformation configuration method, for example Delta3Ax(...) or AddAuxAx(...), is called after the configuration has been completed.

TransformationAlreadyConfigured

Enumeration name:	TransformationAlreadyConfigured
Enumeration value:	106
Description:	The transformation is already configured.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The configuration of the robot transformation has already been completed successfully.	Ensure that a configuration for a transformation is only called once.

DriveAAlreadyInUse

Enumeration name:	DriveAAlreadyInUse
Enumeration value:	36
Description:	The drive A is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveA is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once.

DriveAInvalid

Enumeration name:	DriveAInvalid
Enumeration value:	48
Description:	The drive A is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveA is invalid.	At the input i_ifDriveA, a valid drive must be transferred.

DriveBAlreadyInUse

Enumeration name:	DriveBAlreadyInUse
Enumeration value:	37
Description:	The drive B is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveB is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once.

DriveBInvalid

Enumeration name:	DriveBInvalid
Enumeration value:	49
Description:	The drive B is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveB is invalid.	At the input i_ifDriveB, a valid drive must be transferred.

DriveCAlreadyInUse

Enumeration name:	DriveCAlreadyInUse
Enumeration value:	38
Description:	The drive C is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveC is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once.

DriveCInvalid

Enumeration name:	DriveCInvalid
Enumeration value:	50
Description:	The drive C is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveC is invalid.	At the input i_ifDriveC, a valid drive must be transferred.

DriveDAlreadyInUse

Enumeration name:	DriveDAlreadyInUse
Enumeration value:	96
Description:	The drive D is already in use.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveD is already configured in the robot and cannot be used again.	Ensure that no drive is assigned to the robot more than once.

DriveDInvalid

Enumeration name:	DriveDInvalid
Enumeration value:	93
Description:	The drive D is invalid.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The drive transferred at the input i_ifDriveD is invalid.	At the input i_ifDriveD, a valid drive must be transferred.

LengthARange

Enumeration name:	LengthARange
Enumeration value:	160
Description:	The LengthA is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_lrLengthA is outside the valid range.	At the input i_lrLengthA, a value greater than 0 must be transferred.

LengthBRange

Enumeration name:	LengthBRange
Enumeration value:	161
Description:	The LengthB is out of range.

Issue	Cause	Solution
The configuration of the robot transformation was not successful.	The value transferred at the input i_lrLengthB is outside the valid range.	At the input i_lrLengthB, a value greater than 0 must be transferred.